diff --git a/idf_component.yml b/idf_component.yml
index dfc53c5d..267eb60f 100644
--- a/idf_component.yml
+++ b/idf_component.yml
@@ -23,4 +23,5 @@ targets:
   - esp32s2
   - esp32s3
   - esp32p4
-  - esp32s31
\ No newline at end of file
+  - esp32s31
+  - esp32h4
\ No newline at end of file
diff --git a/osal/idf/usb_config.h b/osal/idf/usb_config.h
index 7b713af0..d08d8955 100644
--- a/osal/idf/usb_config.h
+++ b/osal/idf/usb_config.h
@@ -273,6 +273,12 @@
 #define CONFIG_USBDEV_MAX_BUS 1
 #define CONFIG_USBHOST_MAX_BUS 1
 #define CONFIG_USB_HS
+#elif CONFIG_IDF_TARGET_ESP32H4
+#define ESP_USB_FS0_BASE            0x60040000
+#define ESP_USBD_BASE               ESP_USB_FS0_BASE
+#define ESP_USBH_BASE               ESP_USB_FS0_BASE
+#define CONFIG_USBDEV_MAX_BUS 1
+#define CONFIG_USBHOST_MAX_BUS 1
 #else
 #error "Unsupported SoC"
 #endif
diff --git a/port/dwc2/README.md b/port/dwc2/README.md
index 86498075..a4f3179b 100644
--- a/port/dwc2/README.md
+++ b/port/dwc2/README.md
@@ -36,7 +36,7 @@ Please note that host must support dma mode.
 
 ### Espressif
 
-- ESP32S2、ESP32S3、ESP32P4、ESP32S31
+- ESP32S2、ESP32S3、ESP32P4、ESP32S31、ESP32H4
 
 ### Sophgo
 
diff --git a/port/dwc2/usb_glue_esp.c b/port/dwc2/usb_glue_esp.c
index 59e47165..08987718 100644
--- a/port/dwc2/usb_glue_esp.c
+++ b/port/dwc2/usb_glue_esp.c
@@ -45,6 +45,11 @@
 #define GET_USB_PHY_TARGET(reg_base)    USB_PHY_TARGET_UTMI
 #undef GET_USB_PHY_SPEED
 #define GET_USB_PHY_SPEED(reg_base)     USB_PHY_SPEED_HIGH
+#elif CONFIG_IDF_TARGET_ESP32H4
+#define DEFAULT_CPU_FREQ_MHZ    CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ
+#define DEFAULT_USB_INTR_SOURCE ETS_USB_OTG11_INTR_SOURCE
+#undef GET_USB_INTR_SOURCE
+#define GET_USB_INTR_SOURCE(reg_base)   DEFAULT_USB_INTR_SOURCE
 #else
 #define DEFAULT_CPU_FREQ_MHZ 160
 #endif
@@ -53,7 +58,7 @@ uint32_t SystemCoreClock = (DEFAULT_CPU_FREQ_MHZ * 1000 * 1000);
 static usb_phy_handle_t s_phy_handle[SOC_USB_OTG_PERIPH_NUM] = {NULL};
 static intr_handle_t s_interrupt_handle[SOC_USB_OTG_PERIPH_NUM] = {NULL};
 
-#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32H4
 const struct dwc2_user_params param_fs = {
     .phy_type = DWC2_PHY_TYPE_PARAM_FS,
     .device_dma_enable = true,
@@ -273,7 +278,7 @@ void usb_hc_low_level_deinit(struct usbh_bus *bus)
 
 void dwc2_get_user_params(uint32_t reg_base, struct dwc2_user_params *params)
 {
-#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32H4
     memcpy(params, &param_fs, sizeof(struct dwc2_user_params));
 #elif CONFIG_IDF_TARGET_ESP32P4
     if (reg_base == ESP_USB_HS0_BASE) {
diff --git a/tests/espressif/device/main/main.c b/tests/espressif/device/main/main.c
index 5bac5dc7..098594fa 100644
--- a/tests/espressif/device/main/main.c
+++ b/tests/espressif/device/main/main.c
@@ -19,7 +19,7 @@ void app_main(void)
 {
     USB_LOG_INFO("Hello CherryUSB!\n");
 
-    cdc_acm_msc_init(0, 0x60080000);
+    cdc_acm_msc_init(0, ESP_USBD_BASE);
     while(1)
     {
         vTaskDelay(10);
diff --git a/tests/espressif/host/main/main.c b/tests/espressif/host/main/main.c
index e67052f6..23b0e59d 100644
--- a/tests/espressif/host/main/main.c
+++ b/tests/espressif/host/main/main.c
@@ -29,7 +29,7 @@ void app_main(void)
     // Create default event loop that running in background
     ESP_ERROR_CHECK(esp_event_loop_create_default());
 
-    usbh_initialize(0, 0x60080000, NULL);
+    usbh_initialize(0, ESP_USBH_BASE, NULL);
     while(1)
     {
         vTaskDelay(10);